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Adding the ability to install libsimulate library and associated headers during installation. #2170

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Adding the ability to install libsimulate library and associated headers during installation. #2170

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f6e4666
Updating simulation cmake to install headers and so file if requested…
vidurvij-apptronik Oct 23, 2024
832229a
Update CMakeLists.txt
vidurvij-apptronik Oct 28, 2024
9dd05d3
Update SimulateDependencies.cmake
vidurvij-apptronik Oct 28, 2024
64d274f
Cleanup
vidurvij-apptronik Dec 4, 2024
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25 changes: 21 additions & 4 deletions simulate/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -128,8 +128,13 @@ add_library(mujoco::libsimulate ALIAS libsimulate)

target_sources(
libsimulate
PUBLIC simulate.h
PRIVATE simulate.cc array_safety.h
PUBLIC
simulate.h
platform_ui_adapter.h
glfw_adapter.h
glfw_dispatch.h
array_safety.h
PRIVATE simulate.cc
)
target_include_directories(libsimulate PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
target_compile_options(libsimulate PRIVATE ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
Expand Down Expand Up @@ -246,9 +251,21 @@ if(SIMULATE_BUILD_EXECUTABLE)
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
BUNDLE DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT simulate
PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}" COMPONENT simulate
)

# Specify public headers for libsimulate
if(SIMULATE_EXPOSE_HEADERS)
set_target_properties(libsimulate PROPERTIES PUBLIC_HEADER "simulate.h;platform_ui_adapter.h;glfw_adapter.h;glfw_dispatch.h;glfw_corevideo.h;array_safety.h")

install(
TARGETS libsimulate
EXPORT ${PROJECT_NAME}
ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/simulate" COMPONENT simulate
)
endif()

if(NOT MUJOCO_SIMULATE_USE_SYSTEM_GLFW)
# We downloaded GLFW. Depending if it is a static or shared LIBRARY we might
# need to install it.
Expand All @@ -260,7 +277,7 @@ if(SIMULATE_BUILD_EXECUTABLE)
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT simulate
PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}" COMPONENT simulate
)
endif()
endif()
Expand Down
17 changes: 17 additions & 0 deletions simulate/cmake/SimulateDependencies.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -102,3 +102,20 @@ if(NOT SIMULATE_STANDALONE)
target_compile_options(glfw PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
target_link_options(glfw PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
endif()

# Install GLFW headers if not using system GLFW
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I don't like this at all since we'd be vendoring other project's headers as part of the install.

If the GLFW headers are needed then you should just set USE_SYSTEM_GLFW.

if(NOT MUJOCO_SIMULATE_USE_SYSTEM_GLFW)
FetchContent_GetProperties(glfw3)
if(NOT glfw3_POPULATED)
message(FATAL_ERROR "GLFW3 not populated")
endif()

install(
DIRECTORY ${glfw3_SOURCE_DIR}/include/GLFW
DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
COMPONENT simulate
FILES_MATCHING PATTERN "*.h"
PATTERN "CMake*" EXCLUDE
PATTERN ".git*" EXCLUDE
)
endif()